Event-triggered synchronization control of networked Euler-Lagrange systems without requiring relative velocity information
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Publication:1999095
This paper investigates the single- and multi-synchronization control problems of networked Euler-Lagrange systems subject to parameter uncertainties, time-varying disturbances and scarce control resources in a unified framework. Several novel event-triggered control algorithms are developed without requiring relative velocity information, which is capable of significantly mitigating the cost of unnecessary controller updates, signal transmission and computation, while possessing satisfactory control performances. Additionally, based on the Lyapunov stability techniques, the rigorous sufficient criteria for the asymptotic convergence of the synchronization errors are established, and the positive lower bounds of execution intervals are derived to exclude Zeno behaviors. Finally, by further proposing other comparative control algorithms and conceiving a performance index named trigger rate, numerical examples are performed to demonstrate the effectiveness and superiority of the theoretical results.
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Cited in
(15)- Optimal synchronization control of multiple Euler-Lagrange systems via event-triggered reinforcement learning
- Output event-triggered tracking synchronization of heterogeneous systems on directed digraph via model-free reinforcement learning
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